{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:XZKQCV5MAIWGHSTZNJMVILBO52","short_pith_number":"pith:XZKQCV5M","canonical_record":{"source":{"id":"2204.09833","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2022-04-21T01:06:10Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"6f9c6f4e2ef017e85bee4ffce46a2b6fd5cb8b4d987f37442cd4f79b18ac9db2","abstract_canon_sha256":"1e304f543cb451f455062f1a47c0e07614848175764e96dfbfbd775e22487cc3"},"schema_version":"1.0"},"canonical_sha256":"be550157ac022c63ca796a59542c2eee8a0b68c56f6e4cb7102c8459f4552f10","source":{"kind":"arxiv","id":"2204.09833","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.09833","created_at":"2026-07-05T04:16:43Z"},{"alias_kind":"arxiv_version","alias_value":"2204.09833v1","created_at":"2026-07-05T04:16:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.09833","created_at":"2026-07-05T04:16:43Z"},{"alias_kind":"pith_short_12","alias_value":"XZKQCV5MAIWG","created_at":"2026-07-05T04:16:43Z"},{"alias_kind":"pith_short_16","alias_value":"XZKQCV5MAIWGHSTZ","created_at":"2026-07-05T04:16:43Z"},{"alias_kind":"pith_short_8","alias_value":"XZKQCV5M","created_at":"2026-07-05T04:16:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:XZKQCV5MAIWGHSTZNJMVILBO52","target":"record","payload":{"canonical_record":{"source":{"id":"2204.09833","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2022-04-21T01:06:10Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"6f9c6f4e2ef017e85bee4ffce46a2b6fd5cb8b4d987f37442cd4f79b18ac9db2","abstract_canon_sha256":"1e304f543cb451f455062f1a47c0e07614848175764e96dfbfbd775e22487cc3"},"schema_version":"1.0"},"canonical_sha256":"be550157ac022c63ca796a59542c2eee8a0b68c56f6e4cb7102c8459f4552f10","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:16:43.466973Z","signature_b64":"hOAi3K178qHCAgIzNNmhE2OBZqP99lpTnUeR28LFxc2Wj0vBZYU6R3Tpp6t/j8O4F/msmWTw7M5+dPF32aJSCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"be550157ac022c63ca796a59542c2eee8a0b68c56f6e4cb7102c8459f4552f10","last_reissued_at":"2026-07-05T04:16:43.466493Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:16:43.466493Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2204.09833","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:16:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4Q/AvJ7YXJ8GVkM0uQXYV78Pb7yF1OJ3S0JqSS3glYlmMKOmRWyhMgl1iAaVSCM3zy2KnrT6/NixZpKXcvo9Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:32:44.182168Z"},"content_sha256":"64105a040c966c4a8e61e91509d32c7b092fea2af9586fed21dca0a23a3a6dee","schema_version":"1.0","event_id":"sha256:64105a040c966c4a8e61e91509d32c7b092fea2af9586fed21dca0a23a3a6dee"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:XZKQCV5MAIWGHSTZNJMVILBO52","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.AI","authors_text":"Aaron D. Ames, Anushri Dixit, Joel W. Burdick, Mohamadreza Ahmadi, Prithvi Akella","submitted_at":"2022-04-21T01:06:10Z","abstract_excerpt":"The dramatic increase of autonomous systems subject to variable environments has given rise to the pressing need to consider risk in both the synthesis and verification of policies for these systems. This paper aims to address a few problems regarding risk-aware verification and policy synthesis, by first developing a sample-based method to bound the risk measure evaluation of a random variable whose distribution is unknown. These bounds permit us to generate high-confidence verification statements for a large class of robotic systems. Second, we develop a sample-based method to determine solu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.09833","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2204.09833/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:16:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lyCZ8IOFDlDmssZHmvpFCbH1eZZKxh6s1+WTuVZvuqNmxjsSNjgYtxlEviW0RnQ+DvzVeZlU1BCdYAbmaPXxDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T19:32:44.182585Z"},"content_sha256":"90e8ea1e6d7f2dfa2d83e7a9cf62f25add63a0b129bebcd7214d267c0e1c6f54","schema_version":"1.0","event_id":"sha256:90e8ea1e6d7f2dfa2d83e7a9cf62f25add63a0b129bebcd7214d267c0e1c6f54"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XZKQCV5MAIWGHSTZNJMVILBO52/bundle.json","state_url":"https://pith.science/pith/XZKQCV5MAIWGHSTZNJMVILBO52/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XZKQCV5MAIWGHSTZNJMVILBO52/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-06T19:32:44Z","links":{"resolver":"https://pith.science/pith/XZKQCV5MAIWGHSTZNJMVILBO52","bundle":"https://pith.science/pith/XZKQCV5MAIWGHSTZNJMVILBO52/bundle.json","state":"https://pith.science/pith/XZKQCV5MAIWGHSTZNJMVILBO52/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XZKQCV5MAIWGHSTZNJMVILBO52/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:XZKQCV5MAIWGHSTZNJMVILBO52","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"1e304f543cb451f455062f1a47c0e07614848175764e96dfbfbd775e22487cc3","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2022-04-21T01:06:10Z","title_canon_sha256":"6f9c6f4e2ef017e85bee4ffce46a2b6fd5cb8b4d987f37442cd4f79b18ac9db2"},"schema_version":"1.0","source":{"id":"2204.09833","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.09833","created_at":"2026-07-05T04:16:43Z"},{"alias_kind":"arxiv_version","alias_value":"2204.09833v1","created_at":"2026-07-05T04:16:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.09833","created_at":"2026-07-05T04:16:43Z"},{"alias_kind":"pith_short_12","alias_value":"XZKQCV5MAIWG","created_at":"2026-07-05T04:16:43Z"},{"alias_kind":"pith_short_16","alias_value":"XZKQCV5MAIWGHSTZ","created_at":"2026-07-05T04:16:43Z"},{"alias_kind":"pith_short_8","alias_value":"XZKQCV5M","created_at":"2026-07-05T04:16:43Z"}],"graph_snapshots":[{"event_id":"sha256:90e8ea1e6d7f2dfa2d83e7a9cf62f25add63a0b129bebcd7214d267c0e1c6f54","target":"graph","created_at":"2026-07-05T04:16:43Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2204.09833/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The dramatic increase of autonomous systems subject to variable environments has given rise to the pressing need to consider risk in both the synthesis and verification of policies for these systems. This paper aims to address a few problems regarding risk-aware verification and policy synthesis, by first developing a sample-based method to bound the risk measure evaluation of a random variable whose distribution is unknown. These bounds permit us to generate high-confidence verification statements for a large class of robotic systems. Second, we develop a sample-based method to determine solu","authors_text":"Aaron D. Ames, Anushri Dixit, Joel W. Burdick, Mohamadreza Ahmadi, Prithvi Akella","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2022-04-21T01:06:10Z","title":"Sample-Based Bounds for Coherent Risk Measures: Applications to Policy Synthesis and Verification"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.09833","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:64105a040c966c4a8e61e91509d32c7b092fea2af9586fed21dca0a23a3a6dee","target":"record","created_at":"2026-07-05T04:16:43Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"1e304f543cb451f455062f1a47c0e07614848175764e96dfbfbd775e22487cc3","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.AI","submitted_at":"2022-04-21T01:06:10Z","title_canon_sha256":"6f9c6f4e2ef017e85bee4ffce46a2b6fd5cb8b4d987f37442cd4f79b18ac9db2"},"schema_version":"1.0","source":{"id":"2204.09833","kind":"arxiv","version":1}},"canonical_sha256":"be550157ac022c63ca796a59542c2eee8a0b68c56f6e4cb7102c8459f4552f10","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"be550157ac022c63ca796a59542c2eee8a0b68c56f6e4cb7102c8459f4552f10","first_computed_at":"2026-07-05T04:16:43.466493Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:16:43.466493Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hOAi3K178qHCAgIzNNmhE2OBZqP99lpTnUeR28LFxc2Wj0vBZYU6R3Tpp6t/j8O4F/msmWTw7M5+dPF32aJSCA==","signature_status":"signed_v1","signed_at":"2026-07-05T04:16:43.466973Z","signed_message":"canonical_sha256_bytes"},"source_id":"2204.09833","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:64105a040c966c4a8e61e91509d32c7b092fea2af9586fed21dca0a23a3a6dee","sha256:90e8ea1e6d7f2dfa2d83e7a9cf62f25add63a0b129bebcd7214d267c0e1c6f54"],"state_sha256":"44bda954ba06390657a838d31be9ea3b6157dd224962a1760bf6dd4028ab060e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9EkWYFjpbRERac5iW8ff7jseuSbAu0CHPs4ss/lOWavjhl6R3DixxIrmif6C9QFiwBGGzJuWk79oR36Wmb+sDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T19:32:44.184576Z","bundle_sha256":"19ec38013e6c8720df3933e04a36e5446008b6e6f7291912594983f731ed4c96"}}